DocumentCode :
3191563
Title :
A Toolbox for Easily Calibrating Omnidirectional Cameras
Author :
Scaramuzza, Davide ; Martinelli, Agostino ; Siegwart, Roland
Author_Institution :
Autonomous Syst. Lab, Swiss Fed. Inst. of Technol., Zurich
fYear :
2006
fDate :
9-15 Oct. 2006
Firstpage :
5695
Lastpage :
5701
Abstract :
In this paper, we present a novel technique for calibrating central omnidirectional cameras. The proposed procedure is very fast and completely automatic, as the user is only asked to collect a few images of a checker board, and click on its corner points. In contrast with previous approaches, this technique does not use any specific model of the omnidirectional sensor. It only assumes that the imaging function can be described by a Taylor series expansion whose coefficients are estimated by solving a four-step least-squares linear minimization problem, followed by a non-linear refinement based on the maximum likelihood criterion. To validate the proposed technique, and evaluate its performance, we apply the calibration on both simulated and real data. Moreover, we show the calibration accuracy by projecting the color information of a calibrated camera on real 3D points extracted by a 3D sick laser range finder. Finally, we provide a Toolbox which implements the proposed calibration procedure
Keywords :
image sensors; laser ranging; least squares approximations; mathematics computing; maximum likelihood estimation; series (mathematics); 3D sick laser range finder; Taylor series expansion; Toolbox; four-step least-squares linear minimization problem; maximum likelihood criterion; omnidirectional cameras; Calibration; Intelligent robots; Layout; Lenses; Mathematical model; Maximum likelihood estimation; Mirrors; Robot vision systems; Smart cameras; Taylor series; calibration; camera; catadioptric; omnidirectional; toolbox;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0258-1
Electronic_ISBN :
1-4244-0259-X
Type :
conf
DOI :
10.1109/IROS.2006.282372
Filename :
4059340
Link To Document :
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